A biological sample processing system equipped with a system for transporting holders for biological sample containers.

Abstract

The transport system comprises a transport unit (4) having a carriage guide element (23) defining a transport track and a self-propelled transport carriage (24) movable along the transport track and configured to move a container holder (3) along the movement path, and a plurality of receiving positions (8) arranged along the movement path. The self-propelled transport carriage (24) has two gripping arms (31) mounted on the self-propelled transport carriage (24) such that the gripping arms (31) are movable between a gripping position configured to grip and lift a container holder (3) arranged in one of the receiving positions (8) and a release position configured to release the container holder (3) and place the container holder (3) in one of the receiving positions (8).

Description

Technical Field

[0001] The present invention relates to a biological sample processing system having a transport system configured to transport a container holder for supporting a container that houses a biological sample such as a liquid sample of a living body.

Background Art

[0002] In such a transport system, in a known manner, a plurality of container holders for supporting a container that houses a biological sample to be analyzed, a transport unit configured to transport the container holder, a holder guide element that defines a guide track, the holder guide element being configured to receive the container holder and guide the translational movement of the container holder along the guide track, a carriage guide element that defines a transport track extending along a support guide element, a self-propelled transport carriage movable along the transport track, the carriage guide element being configured to guide the self-propelled transport carriage during the movement of the self-propelled transport carriage along the transport track, and the self-propelled transport carriage being configured to translate the container holder along the guide track within the holder guide element when the self-propelled transport carriage moves along the transport track, a transport unit having, a plurality of receiving positions arranged along the guide track, each being configured to receive and at least temporarily store the container holder, and the self-propelled transport carriage being further configured to move the container holder laterally with respect to the guide track to move the container holder to or from one receiving position, having.

[0003] In such a transport system, the cumbersome operations of the operator are significantly restricted, and particularly when the container holder has to be transported between different analyzers and / or measuring devices, a high transport capacity and a high analysis speed are ensured.

[0004] Furthermore, if a self-propelled transport cart malfunctions, it can simply be replaced with another self-propelled transport cart, resulting in minimal downtime for the transport system and significantly limiting the time the bioanalysis system equipped with this transport system is unavailable in the analysis laboratory. It is also possible to equip the transport unit with two self-propelled transport carts, ensuring that one cart maintains consistent functionality (service) during reloading or maintenance of the other. Additionally, the presence of two self-propelled transport carts guarantees improved transport speed.

[0005] Furthermore, since the transport trolley is self-propelled, the transport track can be basically "passive," and is therefore determined by simple trolley guide elements such as guide rails. This greatly simplifies the transport system, reduces costs, improves the reliability of the system, and makes it easier to configure and install quickly and easily. [Overview of the project] [Problems that the invention aims to solve]

[0006] However, when the container holder is driven in translation by the self-propelled transport cart, friction between the container holder and the holder guide element generates noise, which can be unpleasant for the operator. Furthermore, this friction increases the power consumption of the self-propelled transport cart, which in turn affects the autonomy of the cart's battery.

[0007] Furthermore, when the container holder moves from the guide track to the receiving position by the self-propelled transport trolley (and therefore moves perpendicular to the transport direction of the self-propelled transport trolley), the container holder may tilt vertically due to friction on the underside of the container holder at the holder guide element. This may result in the container holder not being positioned optimally at the receiving position, which in turn may affect the gripping of the container holder by the loading mechanism used at the receiving position.

[0008] The present invention aims to resolve these problems.

[0009] Therefore, the technical problem underlying the present invention is to provide a biological sample processing system equipped with a transport system that has a simple, economical, and reliable structure, while ensuring high transport capacity, optimized analysis speed, and easy and rapid maintainability. [Means for solving the problem]

[0010] For this purpose, the present invention relates to a biological sample processing system such as a biological analysis system, and this system is Multiple container holders for holding containers containing biological samples such as liquid samples of living organisms, A transport unit configured to transport a container holder, the transport unit comprising a trolley guide element that forms a transport track and a self-propelled transport trolley that can move along the transport track, wherein the trolley guide element is configured to guide the self-propelled transport trolley during its displacement along the transport track, the transport unit comprising a trolley body and configured to move the container holder along a movement path when the self-propelled transport trolley moves along the transport track, A plurality of receiving positions arranged along a movement path and offset laterally with respect to the movement path, each of which is configured to receive and at least temporarily store a container holder, and further configured to move the container holder laterally with respect to the movement path so that the self-propelled transport trolley moves the container holder to or from the receiving position, A transport system having, The transport unit comprises at least one analyzer and / or measuring device arranged along the transport unit and configured to perform blood tests, The self-propelled transport trolley has two gripping arms spaced apart from each other, and the two gripping arms are mounted to be movable between a gripping position configured to be close to each other and to grip and lift a container holder placed in one of the receiving positions, and a release position configured to be spaced apart from each other and to release the container holder and place the container holder in one of the receiving positions, and the self-propelled transport trolley is configured to move the container holder gripped and lifted by the gripping arms along the movement path as the self-propelled transport trolley moves along the transport track, and each gripping arm includes a lifting member, the lifting member being received into two receiving recesses provided on two lateral surfaces of a container holder facing each other when the gripping arm moves to the gripping position, and lifting the container holder.

[0011] Such a configuration of a transport system, particularly a self-propelled transport trolley, allows the container holder to be moved at a distance from the trolley guide element, thereby avoiding friction between the container holder and the trolley guide element during displacement of the container holder along the movement path and during displacement of the container holder laterally relative to the movement path (for example, when loading the container holder into the receiving position).

[0012] As a result, the battery life of the self-propelled transport vehicle is improved, and the battery charging cycle can be spaced further apart. Therefore, the downtime of the self-propelled transport vehicle is significantly reduced.

[0013] Furthermore, the absence of friction between the container holder and the trolley guide element during the displacement of the container holder along the movement path significantly reduces noise generated by the transport system, greatly improving operator comfort.

[0014] Moreover, while the container holder is displaced laterally with respect to the movement path (particularly when loading the container holder into the receiving position), the absence of friction between the container holder and the carriage guide elements ensures optimal positioning of the container holder at the receiving position, thus ensuring optimal gripping of the container holder by the loading mechanism used at the receiving position.

[0015] Therefore, in the transport system of the biological sample processing system according to the present invention, reliability is improved compared to the transport systems of the prior art, and further improvement in transport capacity and analysis speed is ensured.

[0016] This biological sample processing system may be configured to have one or more of the following features individually or in combination.

[0017] According to an embodiment of the present invention, the movement path extends parallel to the transport track.

[0018] According to an embodiment of the present invention, the two gripping arms are configured to sandwich the container holder therebetween when in the gripping position.

[0019] According to an embodiment of the present invention, the two gripping arms project from the side surface of the carriage body when the two gripping arms are in the gripping position.

[0020] According to an embodiment of the present invention, the self-propelled transport carriage is configured such that when the container holder is transported along the movement path by the self-propelled transport carriage, the container holder extends to the opposite side of the side surface that projects when the two gripping arms are in the gripping position, more specifically, the side surface of the carriage body.

[0021] According to an embodiment of the present invention, each gripping arm is pivotally attached about a respective pivot axis that is substantially vertical.

[0022] According to an embodiment of the present invention, the gripping arm is movable within a substantially horizontal movement plane.

[0023] According to one embodiment of the present invention, each gripping arm has a gripping portion configured to exert a supporting force on each lateral surface of the container holder when the gripping arm is in the gripping position.

[0024] According to one embodiment of the present invention, each gripping portion is located at the free end of each gripping arm.

[0025] According to one embodiment of the present invention, each receiving recess is provided at the upper part of each lateral surface.

[0026] According to one embodiment of the present invention, each gripping portion has a support surface configured to exert a supporting force on each lateral surface of the container holder when the gripping arm is in the gripping position, and each lifting member extends from the support surface of each gripping portion.

[0027] According to one embodiment of the present invention, each lifting member has a lifting inclined surface inclined with respect to the vertical direction, and the two lifting inclined surfaces are configured to lift the container holder when the gripping arm moves to the gripping position.

[0028] According to an embodiment of the present invention, it has at least one receiving region arranged along the movement path, the receiving region includes a first receiving position and a second receiving position which are displaced from each other along the movement path, and the first receiving position and the second receiving position are each configured to receive the container holder and store it at least temporarily.

[0029] According to one embodiment of the present invention, at least one receiving position has a first guide wall and a second guide wall that are offset from each other in a direction extending across the movement path, the first and second guide walls define a guide track extending along the movement path, the first and second receiving positions are located at opposite ends of the guide track, the first guide wall separating the movement path from the guide track is located on the opposite side of the second guide wall and has a passage opening for the container holder to pass through, and the self-propelled transport trolley is configured to move the container holder, which is gripped and lifted by the gripping arm, along the guide track through the passage opening.

[0030] According to one embodiment of the present invention, the first guide wall and the second guide wall extend in a first extension plane and a second extension plane that are substantially vertical and parallel to the travel path, respectively.

[0031] According to one embodiment of the present invention, the first and second guide walls are configured to guide a container holder as it translates along a guide trajectory.

[0032] According to one embodiment of the present invention, a self-propelled transport trolley has a support element to which a gripping arm is movably attached, and the support element is attached to the trolley body so as to be able to translate in the direction of movement across the transport track between a transport position, which is a position configured to move a container holder that has been gripped by the gripping arm and lifted along a transport path, and a moving position, which is a position configured to grip and lift the container holder that has been placed in a receiving position, or to release the container holder at the receiving position and place it on top.

[0033] According to one embodiment of the present invention, when the support element is in the transport position and the gripping arm is in the gripping position, each of the gripping arms protrudes by a first distance from the side of the trolley body, and when the support element is in the moving position and the gripping arm is in the gripping position, each of the gripping arms protrudes by a second distance greater than the first distance from the side of the trolley body.

[0034] According to one embodiment of the present invention, the trolley guide element has two guide rails configured to cooperate with the underside of the self-propelled transport trolley during the displacement of the self-propelled transport trolley along the transport track.

[0035] According to one embodiment of the present invention, the transport system has a storage device arranged along a transport path and configured to store container holders, and at least one receiving position is located in close proximity to the storage device.

[0036] According to one embodiment of the present invention, the storage device has an operating mechanism configured to move a container holder stored in the storage device to at least one receiving position located adjacent to the storage device.

[0037] According to one embodiment of the present invention, the transport system has a control unit configured to communicate remotely with a self-propelled transport trolley. The control unit may be a computer, for example, a PC-type computer.

[0038] According to one embodiment of the present invention, the control unit is configured to communicate wirelessly with the self-propelled transport cart, for example, via Wi-Fi or Bluetooth.

[0039] According to one embodiment of the present invention, the two gripping arms of a self-propelled transport trolley are configured to occupy a first gripping position in which the two gripping arms protrude from a first side surface of the trolley body and are configured to grip and lift a container holder located on the first side of the transport track, and a second gripping position in which the two gripping arms protrude from a second side surface of the trolley body and are configured to grip and lift a container holder located on the second side of the transport track.

[0040] According to one embodiment of the present invention, the self-propelled transport trolley has at least one drive wheel configured to roll on a trolley guide element and at least one rotary drive mechanism configured to rotate the at least one drive wheel.

[0041] According to one embodiment of the present invention, the self-propelled transport trolley has a first pair of drive wheels positioned close to the first longitudinal end of the trolley body and a second pair of drive wheels positioned close to the second longitudinal end of the trolley body. According to a modified version of the present invention, the self-propelled transport trolley may have only two drive wheels positioned close to the first and second longitudinal ends of the trolley body, respectively.

[0042] According to one embodiment of the present invention, the self-propelled transport trolley is capable of moving along a transport track in a first direction of movement and a second direction of movement opposite to the first direction of movement.

[0043] According to one embodiment of the present invention, the transport track is substantially linear. Nevertheless, according to a variation of the present invention, the transport track can be formed by a plurality of linear sections arranged such that two consecutive linear sections are at a 90° angle to each other, and the transport unit can have a plurality of self-propelled transport trolleys, each configured to move along each of the linear sections, and the passage of a container holder from one linear section to another is carried out by a moving rotor having a substantially vertical axis of rotation and a plurality of storage compartments, each configured to receive a container holder.

[0044] According to one embodiment of the present invention, the self-propelled transport trolley is configured to move the container holder along a travel path in a direction of movement substantially parallel to the direction in which the container holder extends.

[0045] According to one embodiment of the present invention, the self-propelled transport trolley is configured to maintain the container holder substantially vertically while the container holder is displaced along the transport track.

[0046] According to one embodiment of the present invention, when the two gripping arms are in the gripping position, the two gripping arms are separated by a distance substantially corresponding to the length of the container holder.

[0047] According to one embodiment of the present invention, the two gripping arms are each configured to cooperate with opposing side walls of a container holder.

[0048] According to one embodiment of the present invention, the self-propelled transport trolley has an actuator configured to move two gripping arms between a gripping position and a release position.

[0049] According to one embodiment of the present invention, the actuator is configured to rotate each of the gripping arms around its pivot axis. For example, the actuator may be configured to have two motors, each rotatably connected to each of the gripping arms.

[0050] According to one embodiment of the present invention, the transport system has at least one positioning marking arranged on a transport track, and the self-propelled transport trolley has detection means configured to detect at least one positioning marking, and control means configured to control the self-propelled transport trolley to stop operation when the detection means detects at least one positioning marking. For example, the transport system has at least one positioning marking arranged opposite each receiving position.

[0051] According to one embodiment of the present invention, the self-propelled transport trolley has a determination means configured to determine the position of the self-propelled transport trolley according to the distance the self-propelled transport trolley has traveled along the transport track.

[0052] According to one embodiment of the present invention, the support element and the gripping arm are configured such that when the self-propelled transport trolley is positioned facing at least one receiving area and the gripping arm is in the gripping position, the support element is displaced from the transport position to the moving position, causing the container holder to be displaced and moved from the moving path to at least one receiving area.

[0053] According to one embodiment of the present invention, the support element and the gripping arm are configured such that when the self-propelled transport trolley is positioned facing at least one receiving area and the gripping arm is in the gripping position, the support element is displaced from the moving position to the transport position, thereby displacing the container holder from the receiving area to the moving path.

[0054] According to one embodiment of the present invention, the self-propelled transport trolley has a translational drive mechanism configured to move a support element in translation relative to the trolley body.

[0055] According to one embodiment of the present invention, a self-propelled transport vehicle has a battery configured to supply power to the self-propelled transport vehicle. Advantageously, the battery is rechargeable. For example, the battery can be charged by contact or induction.

[0056] According to one embodiment of the present invention, the transport system has a charging area which includes an electrical charging device configured to electrically charge a battery when a self-propelled transport trolley is located in the charging area. For example, the charging area is located at the end of a transport track.

[0057] According to one embodiment of the present invention, at least one analytical and / or measuring device includes a loading module configured to load a container holder placed on a self-propelled transport trolley into a first receiving position of a receiving area associated with at least one analytical and / or measuring device, and an unloading module configured to move a container holder pre-loaded into at least one analytical and / or measuring device to a second receiving position of the receiving area.

[0058] According to one embodiment of the present invention, the at least one analyzer and / or measuring device has at least one module selected from a spectrophotometric reading module, a fluorescence reading module, a luminescence reading module, a coagulation measurement module, and a cytometry module.

[0059] According to one embodiment of the present invention, at least one analytical and / or measuring device has a holder stirring device, and at least one loading module of a transfer device is configured to move a container holder from a first receiving position to the stirring device.

[0060] In any case, the present invention will be fully understood from the following description relating to the attached schematic diagram, which shows one embodiment of this biological sample processing system as a non-limiting example. [Brief explanation of the drawing]

[0061] [Figure 1] Figure 1 is a perspective view of the bioanalysis system for in vitro analysis according to the present invention. [Figure 2] Figure 2 is a perspective view of the self-propelled transport cart belonging to the bioanalysis system shown in Figure 1. [Figure 3] Figure 3 is a bottom view of the self-propelled transport cart shown in Figure 2. [Figure 4] Figure 4 is a perspective view of the self-propelled transport cart shown in Figure 2, while it is gripping a container holder belonging to the bioanalysis system shown in Figure 1. [Figure 5] Figure 5 is a partial perspective view of the top surface of the self-propelled transport trolley shown in Figure 2 while gripping a container holder. [Figure 6] Figure 6 is an enlarged perspective view of the self-propelled transport cart from Figure 2 while gripping a container holder. [Figure 7] Figure 7 is a cross-sectional perspective view of the self-propelled transport cart shown in Figure 2. [Figure 8] Figure 8 is a perspective view of the self-propelled transport cart shown in Figure 2, with the main body of the self-propelled transport cart placed on top. [Figure 9] Figure 9 is a perspective view of the self-propelled transport trolley shown in Figure 2, with the upper body of the self-propelled transport trolley placed on top. [Figure 10] Figure 10 is a perspective view of the container holder shown in Figure 5. [Figure 11] Figure 11 is a partial perspective view of the bioanalysis system shown in Figure 1, illustrating how a self-propelled transport cart is transporting container holders toward the receiving area where the analytical and / or measuring devices are used. [Figure 12] Figure 12 is a partial perspective view of the bioanalysis system shown in Figure 1, in which the self-propelled transport cart faces the passage opening belonging to the receiving area where the analysis and / or measurement devices are used. [Figure 13] Figure 13 is a partial perspective view of the bioanalysis system shown in Figure 1, illustrating the state in which the self-propelled transport cart inserts the container holder into the guide track belonging to the receiving area in which the analysis and / or measurement devices are used. [Figure 14] Figure 14 is a partial perspective view of the bioanalysis system shown in Figure 1, illustrating the state in which the self-propelled transport cart moves the container holder along the guide track toward the first receiving position. [Figure 15] Figure 15 is a partial perspective view of the bioanalysis system shown in Figure 1, illustrating the state in which the container holder is received at the first receiving position in the receiving area. [Figure 16] Figure 16 is a partial perspective view of the bioanalysis system shown in Figure 1, illustrating the self-propelled transport cart carrying the container holder along its path. [Figure 17] Figure 17 is a side view of the self-propelled transport cart from Figure 2 in the state where the container holder is gripped and raised. [Figure 18] Figure 18 is a side view of the self-propelled transport cart from Figure 2 in the state where the container holder is gripped and raised. [Modes for carrying out the invention]

[0062] In this specification, the terms “horizontal” and “vertical” are used to describe a self-propelled transport cart in a usage scenario in which the self-propelled transport cart is placed on a flat, horizontal surface with its drive wheels.

[0063] Figure 1 shows a bioanalysis system 1 for in vitro analysis, more specifically an automated bioanalysis system, having a transport system 2 including a plurality of container holders 3 and a transport unit 4 configured to transport the container holders 3. The bioanalysis system 1 further includes a plurality of analyzers and / or measuring devices 5 arranged along the transport unit 4 and configured to perform blood tests.

[0064] For example, each analyzer and / or measuring device 5 may have one or more modules selected from, in particular, a spectrophotometric reading module, a fluorescence reading module, a luminescence reading module, a cytometry module, and a coagulation measurement module.

[0065] Furthermore, the transport system 2 includes a storage device 6, also called a loading device, which is arranged along the transport unit 4 and configured to store the container holder 3.

[0066] The transport system 2 further comprises a plurality of receiving areas 7 arranged along the transport unit 4, each including at least one receiving position 8 configured to at least temporarily receive and store container holders 3.

[0067] Advantageously, one receiving area 7 is positioned close to the storage device 6, and another receiving area 7 is positioned close to the analyzer and / or measuring device 5, respectively.

[0068] According to the embodiment shown in the figures, each receiving area 7 (see Figures 1 and 11-16) includes two receiving positions 8, namely a first receiving position 8.1 and a second receiving position 8.2, which are offset from each other along the transport unit 4. Advantageously, each analytical and / or measuring device 5 has a loading module (not shown) configured to load a container holder 3 positioned at the first receiving position 8.1 of its respective receiving area 7 into its analytical and / or measuring device 5, and an unloading module (not shown) configured to move a container holder 3 pre-loaded into its analytical and / or measuring device 5 at the second receiving position 8.2 of its respective receiving area 7. Similarly, the storage device 6 has a drive mechanism (not shown) configured to move a container holder 3 stored in the storage device 6 at the second receiving position 8.2 of its respective receiving area 7.

[0069] According to the illustrated embodiment, each receiving area 7 has a first guide wall 13 and a second guide wall 14 that are offset from each other and extend substantially perpendicularly. The first and second guide walls 13 and 14 form a guide track that extends along the transport unit 4 and are configured to guide the container holder 3 as it translates along the guide track. Advantageously, the first and second receiving positions 8.1 and 8.2 of the receiving area 7 are located at opposite ends of each guide track, respectively, with the first guide wall 13 located opposite each of the second guide walls 14 and having a passage opening 15 for the passage of the container holder 3.

[0070] As shown in detail in Figures 10 and 11, each container holder 3, also called a rack, cassette, or carrier, is intended to hold multiple containers 16 containing biological liquid samples to be analyzed, such as blood, plasma, or blood serum samples. Advantageously, the containers 16 are sample tubes.

[0071] Each container holder 3 is generally parallelepiped in shape and extends in a direction consistent with the extension direction. More specifically, each container holder 3 has two opposing longitudinal surfaces 17 and two opposing transverse surfaces 18.

[0072] Each container holder 3 has a base 3.1 and a container receiving portion 3.2. Advantageously, the container receiving portion 3.2 of each container holder 3 has a symmetrical plane extending laterally with respect to the direction in which the container holder 3 extends. Therefore, the container holders 3 can be loaded into the storage device 6 indiscriminately.

[0073] Each container holder 3 includes a plurality of preferably cylindrical receiving compartments 19 aligned in the direction of extension of the container holder 3. Advantageously, the receiving compartments 19 are open upward to facilitate the insertion and removal of containers 16 into and out of the receiving compartments 19. Advantageously, the lower part of each receiving compartment 19 is provided with, for example, an elastically deformable retaining member 20, configured to hold the container 16 within the receiving compartment 19. Such a configuration of the retaining member 20 prevents damage to identification codes, such as those provided on identification tags, carried by the container 16.

[0074] Each container holder 3 has a plurality of reading windows 21 that allow for the optical reading of identification codes carried by containers 16 received by the container holder 3. Advantageously, two reading windows 21 are added to each receiving compartment 19 to allow optical reading from each side of the container holder 3.

[0075] Furthermore, each container holder 3 has two receiving recesses 22 provided on each of its two lateral surfaces 18, the function of which will be explained below. Advantageously, each receiving recess 22 is provided on the upper part of each lateral surface 18.

[0076] As shown in Figures 11 to 16, the transport unit 4 has a trolley guide element 23 that forms a straight transport track. For example, the trolley guide element 23 may have a horizontal and planar support surface 23a and two guide rails 23b fixed to the support surface 23a. Advantageously, the transport track is parallel to the first and second guide walls 13 and 14 belonging to each receiving area 7. However, according to a modified version of the present invention, the transport track may have a curved portion.

[0077] Furthermore, the transport unit 4 has a self-propelled transport trolley 24 that can move along the transport track. The self-propelled transport trolley 24 is configured to move the container holder 3 along a travel path parallel to the transport track as the self-propelled transport trolley 24 moves along the transport track, and to move the container holder 3 to or from a receiving position 8 that is shifted laterally with respect to the travel path, thereby moving the container holder 3 laterally with respect to the travel path. Advantageously, the self-propelled transport trolley 24 is configured to hold the container holder 3 substantially vertically while moving along the travel path.

[0078] More specifically, the trolley guide element 23 is configured to guide the self-propelled transport trolley 24 as it displaces along the transport track. Advantageously, the two guide rails 23b are configured to cooperate with two guide grooves 25 (see Figure 3) provided on the underside of the self-propelled transport trolley 24.

[0079] As shown in detail in Figures 2 and 3, the self-propelled transport trolley 24 comprises a trolley body 26 and drive wheels 27 rotatably mounted on the trolley body 26 and configured to roll on the support surface 23a of the trolley guide element 23. Each drive wheel 27 has a rotation axis that extends substantially horizontally. Advantageously, the self-propelled transport trolley 24 has a pair of drive wheels positioned close to the first longitudinal end of the trolley body 26 and a pair of drive wheels positioned close to the second longitudinal end of the trolley body 26.

[0080] The self-propelled transport trolley 24 has a rotary drive mechanism 28 configured to rotate the drive wheels 27. For example, the rotary drive mechanism 28 has a drive motor rotatably connected to the drive wheels 27.

[0081] Each drive wheel 27 can be driven to rotate in a first rotational direction and in a second rotational direction opposite to the first rotational direction. Therefore, the self-propelled transport trolley 24 can move along the transport track in a first travel direction and in a second travel direction opposite to the first travel direction.

[0082] The self-propelled transport trolley 24 further includes support elements 29, for example in the form of support frames, which are translationally movable relative to the trolley body 26 in the direction of horizontal movement and mounted perpendicular to the transport track. Advantageously, the support elements 29 are translationally guided by a pair of guide rods 30.

[0083] Furthermore, the self-propelled transport trolley 24 has two gripping arms 31 that are spaced apart from each other along the longitudinal direction of the self-propelled transport trolley 24. The two gripping arms 31 are pivotably mounted on the support element 29 about two vertical pivots, each around which they are located. Advantageously, the two gripping arms 31 are movable within a substantially horizontal plane of movement.

[0084] The two gripping arms 31 are rotatably mounted so as to move between a gripping position, where the gripping arms 31 are positioned close to each other (see Figures 11-16 and 18) and are configured to grip and lift a container holder 3 located in one of the receiving positions 8, and a release position, where the gripping arms 31 are positioned far apart from each other and release the container holder 3, placing it in one of the receiving positions 8 (see Figures 3-5 and 17). Thus, the self-propelled transport trolley 24 is configured, more specifically, to move the container holder 3, gripped and lifted by the gripping arms 31, along the transport path as the self-propelled transport trolley 24 moves along the transport track.

[0085] Each gripping arm 31 has a gripping portion 32 with a support surface 33 configured to exert a supporting force on each lateral surface 18 of the container holder 3 when the gripping arm 31 is in the gripping position. Advantageously, each gripping portion 32 is located at the free end of each gripping arm 31. As shown in detail in Figure 3, the gripping portions 32 of the two gripping arms 31 protrude from the side surface 26.1 of the trolley body 26 when the two gripping arms 31 are in the gripping position.

[0086] Furthermore, each gripping arm 31 has a lifting member 34, such as a lifting projection, extending from the support surface 33 of its respective gripping portion 32. Advantageously, each lifting member 34 has a lifting inclined surface 35 that is inclined with respect to the vertical.

[0087] The lifting members 34 are configured to be received by the receiving recesses 22 provided in the container holder 3 when the gripping arm 31 is in the gripping position, and when the gripping arm 31 moves to the gripping position, the lifting inclined surface 35 cooperates with the complementary surface formed by the receiving recesses 22, thereby lifting the container holder 3.

[0088] More specifically, the support element 29 is configured to take two positions: a transport position (see Figures 7 to 9) in which each gripping arm 31 protrudes by a first distance from the side surface 26.1 of the trolley body 26 when the gripping arm 31 is in the gripping position, and a moving position (see Figure 13) in which each gripping arm 31 protrudes by a second distance greater than the first distance from the side surface 26.1 of the trolley body 26 when the gripping arm 31 is in the gripping position.

[0089] More specifically, the self-propelled transport trolley 24 is configured to move the container holder 3, which is gripped and lifted by the gripping arm 31, along the movement path when the support element 29 is in the transport position, and to grip and lift the container holder 3 located at the receiving position 8, or to release the container holder 3 and place it at the receiving position 8, when the support element 29 is in the movement position.

[0090] As shown in Figures 12 and 13, the support elements 29 and gripping arms 31 of the self-propelled transport trolley 24 are configured such that when the self-propelled transport trolley 24 is positioned facing a passage opening 15 belonging to the receiving area 7, and the gripping arms 31 are in the gripping position and connected to the container holder 3, the movement of the support elements 29 from the transport position to the move position causes the container holder 3 to move from the move path through the passage opening 15. Furthermore, the support elements 29 and gripping arms 31 are configured such that when the self-propelled transport trolley 24 is positioned facing a passage opening 15, and the gripping arms 31 are in the gripping position and connected to the container holder 3, the displacement of the support elements 29 from the move position to the transport position causes the container holder 3 to be displaced from the guide track into the move path.

[0091] Furthermore, the self-propelled transport trolley 24 is configured such that when the self-propelled transport trolley 24 moves along the transport track, it is gripped and lifted by the gripping arm 31, and the container holder 3, which is placed in the guide track, is moved along the guide track.

[0092] The self-propelled transport trolley 24 further includes an actuator 36 configured to rotate each gripping arm 31 around its pivot axis, thereby moving the two gripping arms 31 between a gripping position and a release position. The actuator 36 may have different types of actuators known to those skilled in the art, for example, two motors 36 rotatably coupled to each gripping arm 31.

[0093] Furthermore, the self-propelled transport trolley 24 has a translational drive mechanism 37 configured to move the support element 29 in translation relative to the trolley body 26, and between a transport position and a moving position. The translational drive mechanism 37 may have different types of actuators known to those skilled in the art, for example, a linear motor such as a worm gear motor having a first part connected to the support element 29 and a second part connected to the trolley body 26. In one modification, the translational drive mechanism may have a rack provided on the support element 29, a gear wheel provided on the trolley body 26 and configured to cooperate with the rack, and a drive motor provided on the trolley body 26 and rotatably meshed with the gear wheel.

[0094] Furthermore, the self-propelled transport trolley 24 has a battery 38 configured to supply power to the self-propelled transport trolley 24, and more specifically to the translational drive mechanism 37, the rotational drive mechanism 28, and the actuator 36. The battery 38 is also configured to supply power to an electronic control unit 40 provided on the self-propelled transport trolley 24 and configured to control the operation of the self-propelled transport trolley 24. More specifically, such an electronic control unit 40 has an electronic circuit board equipped with a microprocessor.

[0095] According to the illustrated embodiment, the battery 38 is rechargeable and can be charged, for example, by contact or induction. For this purpose, the transport system 2 includes at least one charging area 39, which is configured to electrically charge the battery 38 when the self-propelled transport trolley 24 is positioned within its charging area. Advantageously, the transport system 2 includes two charging areas 39, each located at the ends of a transport track, and charging coils are provided close to each of the longitudinal ends of the self-propelled transport trolley 24.

[0096] According to one embodiment of the present invention, the transport system 2 has a plurality of positioning markings (not shown) arranged on the transport track. For example, the transport system 2 has positioning markings facing each receiving position 8 and each passage opening 15.

[0097] According to this embodiment of the present invention, the self-propelled transport trolley 24 has, on the one hand, detection means such as an optical reader, an RFID detector, or an induction detector configured to detect positioning markings placed on a transport track while the self-propelled transport trolley 24 is moving along the transport track, and on the other hand, control means such as an integrated circuit or a microprocessor configured to control the operation of the self-propelled transport trolley 24 when the detection means detects a positioning marking associated with a receiving position 8 or passage opening 15 to which the self-propelled transport trolley 24 is to reach. For example, each positioning marking can be formed by an optical barrier, a barcode, a QR code (registered trademark), an RFID tag, or a notch in a guide rail 23b.

[0098] According to one embodiment of the present invention, the self-propelled transport cart 24 further has a determination means configured to determine the position of the self-propelled transport cart 24 along a transport track in accordance with the distance the self-propelled transport cart 24 has traveled. For this purpose, the drive wheels 27 can be configured to drive encoders that enable the measurement of the distance traveled by the self-propelled transport cart 24, and the control of the movement of the self-propelled transport cart 24 can be configured to be servo-controlled by an electronic control unit 40 in particular in accordance with this distance traveled.

[0099] As shown in Figure 1, the transport system 2 includes a self-propelled transport cart 24 and a control unit 41 configured to communicate remotely, for example, by WiFi® or Bluetooth®. This control unit 41 may be, for example, a personal computer type computer. Advantageously, the control unit 41 is also configured to communicate with various analytical and / or measuring devices 5.

[0100] Advantageously, the control means belonging to the self-propelled transport trolley 24 is configured to receive control signals transmitted from the control unit 41 and, in response to the received control signals, transmit drive signals in particular to the translational drive mechanism 37, the rotational drive mechanism 28, and the actuator 36.

[0101] The transport system 2 further includes an additional storage device 42, also called an unloading device, which is positioned along the transport unit 4 and configured to store the container holders 3 that have been unloaded from the transport unit 4.

[0102] Next, an example of a sample processing method that can be performed using the aforementioned bioanalysis system 1 will be described. In particular, this sample processing method is a) The steps of manually loading container 16 into container holder 3 and manually loading container holder 3 into storage device 6, b) The step of optically reading the identification codes of different containers 3 supported by container holders 4 loaded into the storage device 6 using an identification code reader provided in the storage device 6, c) Selectively rotate one or more containers 16 of the container holder 4 to ensure optical reading of the identification code by the identification code reader; d) The step of automatically loading the container holder 3 into the second receiving position 8.2 of the receiving area 7 located in close proximity to the storage device 6, e) A step of determining the target position of the container holder 3 loaded into the second receiving position 8.2 of the receiving area 7 located adjacent to the storage device 6, in accordance with the identification codes of the different containers 16 held by the container holder 3 and in accordance with a predetermined analysis transmitted by the control unit 41 or the central computer of the inspection room, f) A step of controlling the movement of a self-propelled transport trolley 24 facing the second receiving position 8.2 of the receiving area 7 which is positioned in close proximity to the storage device 6, g) A step of controlling the movement of the support element 29 of the self-propelled transport trolley 24 in the moving position and the rotation of the gripping arm 31 of the self-propelled transport trolley 24 in the gripping position to grip and lift the container holder 3, h) A step of controlling the displacement of the support element 29 at the transport position, i) A step of controlling the displacement of a self-propelled transport trolley 24 facing a passage opening 15 provided in a receiving area 7 attached to an analytical and / or measuring device 5 on which the container holder 3 is to be loaded, j) A step of controlling the movement of the support element 29 of the self-propelled transport trolley 24 at the movement position so that the container holder 3 is moved through the passage opening 15 within the guide track defined by the receiving area 7, k) A step of controlling the displacement of the self-propelled transport trolley 24 along the transport track so that the container holder 3 is positioned at the first receiving position 8.1 provided in the receiving area 7, l) A step of controlling the rotation of the gripping arm 31 of the self-propelled transport trolley 24 in the open position to release the container holder 3, m) A step of loading a container holder 3 into an analytical and / or measuring device 5 used in a receiving area 7, taking a sample from one or more containers 16 held in the container holder 3 using a sampling device belonging to the analytical and / or measuring device 5, and processing the collected sample using the analytical and / or measuring device 5, wherein the self-propelled transport cart 24 can be controlled to move one or more other container holders 3 within a mask time between these sampling and processing steps, n) A step of moving the container holder 3, which has been pre-loaded into the analyzer and / or measuring device 5, to a second receiving position 8.2 in the receiving area 7 related to the analyzer and / or measuring device 5, and controlling the displacement of the self-propelled transport trolley 24 facing the second receiving position 8.2, o) A step of controlling the translation of the support element 29 of the self-propelled transport trolley 24 in the moving position and controlling the rotation of the gripping arm 31 in the gripping position so as to grip and lift the container holder 3 located in the second receiving position 8.2, p) A step of controlling the translation of the support element 29 of the self-propelled transport trolley 24 at the transport position so as to move the container holder 3 away from the guide track, q) Further steps include controlling the displacement of the self-propelled transport trolley 24 facing the receiving position 8 located in close proximity to other storage devices 42, and controlling the translation of the support elements 29 of the self-propelled transport trolley 24 at the moving position so as to lower the container holder 3 at the receiving position 8, r) A step of rotating the gripping arm 31 of the self-propelled transport trolley 24 in the open position to release the container holder 3, It has.

[0103] The bioanalysis system 1 according to the present invention aims to improve its productivity and quality (reduce labor and errors) by making the sample processing flow in the analysis laboratory more fluid. Accordingly, it goes without saying that the transport system 2 according to the present invention is configured to communicate with a control unit 41 that manages the workload of different analytical and / or measuring devices 5 (such as tests performed for each sample) and transmit different containers 16 to the transport system 2 and then to the analytical and / or measuring devices 5 so that they are transported to the analytical and / or measuring devices 5 according to the test requirements and capabilities of each analytical and / or measuring device 5. Accordingly, the control unit 41 that manages the transport device and loading cart has "intelligence," or a kind of ERP (Enterprise Resource Planning: Integrated Management System), to optimize the transport of the container holders 3 according to the workload of different analytical and / or measuring devices 5.

[0104] Furthermore, each analytical and / or measuring device 5 may have a communication and display interface, as well as embedded electronic equipment (not shown). For example, each communication and display interface has a touchscreen 66 connected to a personal computer type computer. More specifically, the personal computer type computer is configured to record analysis requests manually taken by the operator using the touchscreen, or analysis requests originating from the control unit 41 or the laboratory's central computer, to send the analysis requests to the embedded electronic equipment, to acquire measurement data, to process them using a specific algorithm, and to make the results available to the operator or to send the results to the control unit 41.

[0105] According to a modified version of the present invention, the bioanalysis system 1 may have an analysis device and / or measuring device 5 arranged on both sides of the transport unit 4, and the two gripping arms 31 of the self-propelled transport trolley 24 may be configured to take a first gripping position in which the two gripping arms 31 protrude from the first side surface 26 and are configured to grip and lift a container holder 3 located on the first side of the transport track, and a second gripping position in which the two gripping arms 31 protrude from the second side surface 26.2 of the trolley body 26 and are configured to grip and lift a container holder 3 located on the second side of the transport track.

[0106] Thus, the bioanalysis system 1 according to the present invention includes a pre-analysis section, an analysis section, and a post-analysis section. For example, the pre-analysis section includes, in particular, a container holder loading station, an identification code identification station, and a transport unit for transporting container holders toward one or more analyzers and / or measuring instruments. The pre-analysis section may also include one or more stations from among a centrifugation station, an aliquot station, and an unplug station.

[0107] For example, the analysis unit may include one or more stations from among a biochemistry (e.g., photometry) station, an immunoassay (e.g., immunofluorescence) station, a coagulation station, a hematology station, and a cytometry station.

[0108] For example, the post-analysis section may include a short-term storage station and / or a long-term refrigerated (frozen) storage station.

[0109] Needless to say, the present invention is not limited to the single embodiment of the biological sample processing system described as an example herein, but rather encompasses all its variations.

Claims

1. A biological sample processing system, Multiple container holders (3) for holding a container (16) containing a biological sample, A transport unit (4) configured to transport the container holder (3), comprising a trolley guide element (23) that forms a transport track and a self-propelled transport trolley (24) that can move along the transport track, wherein the trolley guide element (23) is configured to guide the self-propelled transport trolley (24) during its displacement along the transport track, and the transport unit (4) is configured to move the container holder (3) along a movement path when the self-propelled transport trolley (24) moves along the transport track, A plurality of receiving positions (8) are arranged along the aforementioned movement path and are offset laterally from the aforementioned movement path, each of which is configured to receive and at least temporarily store a container holder (3), and the self-propelled transport trolley (24) is configured to move the container holder (3) to or from the receiving position (8) by moving the container holder (3) laterally from the aforementioned movement path, A transport system (2) having, The system comprises at least one analyzer and / or measuring device (5) arranged along a transport unit (4) and configured to perform blood tests, The self-propelled transport trolley (24) has two gripping arms (31) spaced apart from each other, and the two gripping arms (31) are movable between a gripping position in which the gripping arms (31) are close to each other and configured to grip and lift a container holder (3) located in one of the receiving positions (8), and a release position in which the gripping arms (31) are spaced apart from each other and configured to release the container holder (3) and place the container holder (3) in one of the receiving positions (8). The self-propelled transport trolley (24) is configured to move the container holder (3), which is gripped and lifted by the gripping arm (31), along the movement path as the self-propelled transport trolley (24) moves along the transport track. A biological sample processing system characterized in that each of the gripping arms (31) has a lifting member (34), and the lifting member (34) is configured to be received in two receiving recesses (22) provided on two lateral surfaces (18) of a container holder (3) facing each other when the gripping arm (31) moves to the gripping position, thereby lifting the container holder (3).

2. In the biological sample processing system according to claim 1, The two gripping arms (31) are a biological sample processing system that protrudes from the side surface (26.1) of the trolley body (26) when the two gripping arms (31) are in the gripping position.

3. In the biological sample processing system according to claim 1 or 2, A biological sample processing system in which each of the gripping arms (31) is mounted so as to be rotatable about its respective pivot axis which is perpendicular to the horizontal plane.

4. In the biological sample processing system according to claim 1, A biological sample processing system in which the gripping arm (31) is capable of moving within a substantially horizontal plane of motion.

5. In the biological sample processing system according to claim 1, A biological sample processing system in which each of the gripping arms (31) has a gripping portion (32) configured to exert a supporting force on each of the lateral surfaces (18) of the container holder (3) when the gripping arm (31) is in the gripping position.

6. In the biological sample processing system according to claim 5, Each gripping portion (32) has a support surface (33) configured to exert a supporting force on each lateral surface (18) of the container holder (3) when the gripping arm (31) is in the gripping position, and each lifting member (34) extends from the support surface (33) of each gripping portion (32) in a biological sample processing system.

7. In the biological sample processing system according to claim 1, A biological sample processing system in which each lifting member (34) has a lifting inclined surface (35) that is inclined from a direction perpendicular to the horizontal plane, and the two lifting inclined surfaces (35) are configured to lift the container holder (3) when the gripping arm (31) is displaced to the gripping position.

8. In the biological sample processing system according to claim 1, A biological sample processing system comprising a transport system (2) having at least one receiving area (7) arranged along the transport path, the receiving area (7) including a first receiving position (8.1) and a second receiving position (8.2) offset from each other along the transport path, the first receiving position (8.1) and the second receiving position (8.2) each configured to receive and at least temporarily store a container holder (3).

9. In the biological sample processing system according to claim 8, The biological sample processing system is configured such that the at least one receiving area (7) has a first guide wall (13) and a second guide wall (14) offset from each other in a direction extending across the movement path, the first and second guide walls (13, 14) define a guide trajectory extending along the movement path, the first and second receiving positions (8.1, 8.2) are located at opposite ends of the guide trajectory, the first guide wall (13) separating the movement path and the guide trajectory is located on the opposite side of the second guide wall (14) and has a passage opening (15) for the container holder (3) to pass through, and the self-propelled transport trolley (24) moves the container holder (3), which is gripped and lifted by the gripping arm (31), through the passage opening (15) and along the guide trajectory.

10. In the biological sample processing system according to claim 1, A biological sample processing system wherein the self-propelled transport trolley (24) has a support element (29) to which the gripping arm (31) is movably attached, and the support element (29) is attached to the trolley body (26) so as to be able to translate in the direction of movement across the transport track between a transport position, which is a position configured to move the container holder (3) that has been gripped by the gripping arm (31) and lifted along the movement path, and a movement position, which is a position configured to grip and lift the container holder (3) that has been placed at the receiving position (8), or to release and place the container holder (3) at the receiving position (8).

11. In the biological sample processing system according to claim 10, The two gripping arms (31) protrude from the side surface (26.1) of the trolley body (26) when the two gripping arms (31) are in the gripping position. A biological sample processing system wherein, when the support element (29) is in the transport position and the gripping arm (31) is in the gripping position, each of the gripping arms (31) protrudes by a first distance from the side surface (26.1) of the trolley body (26), and when the support element (29) is in the moving position and the gripping arm (31) is in the gripping position, each of the gripping arms (31) protrudes by a second distance greater than the first distance from the side surface (26.1) of the trolley body (26).

12. In the biological sample processing system according to claim 1, A biological sample processing system in which the two gripping arms (31) of the self-propelled transport trolley (24) are configured to take a first gripping position in which the two gripping arms (31) protrude from a first side surface of the trolley body (26) and grip and lift a container holder (3) located on the first side of the transport track, and a second gripping position in which the two gripping arms (31) protrude from a second side surface of the trolley body (26) and grip and lift a container holder (3) located on the second side of the transport track.

13. In the biological sample processing system according to claim 1, The self-propelled transport trolley (24) is a biological sample processing system having at least one drive wheel (27) configured to roll on the trolley guide element (23) and at least one rotational drive mechanism (28) configured to rotate the at least one drive wheel (27).

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